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add support for compound hulls against concave triangle mesh

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This commit is contained in:
erwin coumans
2013-04-05 18:29:58 -07:00
parent 358f4f97a2
commit c8fcf779bb
12 changed files with 361 additions and 82 deletions
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25
opencl/gpu_sat/kernels/satClipHullContacts.cl
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@@ -1256,6 +1256,7 @@ __kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,
__global const float4* uniqueEdges,
__global const btGpuFace* faces,
__global const int* indices,
__global const btGpuChildShape* gpuChildShapes,
__global const float4* separatingNormals,
__global Contact4* restrict globalContactsOut,
counter32_t nGlobalContactsOut,
@@ -1277,8 +1278,8 @@ __kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,
if (i<numConcavePairs)
{
//magic value to detect that pair is invalid
if (concavePairsIn[i].w!=3)
//negative value means that the pair is invalid
if (concavePairsIn[i].w<0)
return;
int bodyIndexA = concavePairsIn[i].x;
@@ -1413,6 +1414,22 @@ __kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,
float4 sepAxis = separatingNormals[i];
int shapeTypeB = collidables[collidableIndexB].m_shapeType;
if (shapeTypeB==SHAPE_COMPOUND_OF_CONVEX_HULLS)
{
///////////////////
///compound shape support
int compoundChild = concavePairsIn[pairIndex].w;
int childShapeIndexB = collidables[collidableIndexB].m_shapeIndex+compoundChild;
int childColIndexB = gpuChildShapes[childShapeIndexB].m_shapeIndex;
float4 childPosB = gpuChildShapes[childShapeIndexB].m_childPosition;
float4 childOrnB = gpuChildShapes[childShapeIndexB].m_childOrientation;
float4 newPosB = transform(&childPosB,&posB,&ornB);
float4 newOrnB = qtMul(ornB,childOrnB);
posB = newPosB;
ornB = newOrnB;
shapeIndexB = collidables[childColIndexB].m_shapeIndex;
}
////////////////////////////////////////
@@ -1420,8 +1437,8 @@ __kernel void clipHullHullConcaveConvexKernel( __global int4* concavePairsIn,
int numLocalContactsOut = clipHullAgainstHullLocalA(sepAxis,
&convexPolyhedronA, &convexShapes[shapeIndexB],
rigidBodies[bodyIndexA].m_pos,rigidBodies[bodyIndexA].m_quat,
rigidBodies[bodyIndexB].m_pos,rigidBodies[bodyIndexB].m_quat,
posA,ornA,
posB,ornB,
worldVertsB1,worldVertsB2,capacityWorldVerts,
minDist, maxDist,
&verticesA,&facesA,&indicesA,